Header header
geometry_msgs/PoseStamped x
geometry_msgs/PoseStamped x_desi
geometry_msgs/PoseStamped x_desi_filtered
geometry_msgs/Twist x_err
geometry_msgs/Twist xd
geometry_msgs/Twist xd_desi
geometry_msgs/Wrench F
float64[] tau_pose
float64[] tau_posture
float64[] tau
std_msgs/Float64MultiArray J
std_msgs/Float64MultiArray N
